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High Efficient Recognition and Docking of Mobile Robot for Multiple Trapezoidal Shelves 3

High Efficient Recognition and Docking of Mobile Robot for M...

引用

3rd International Symposium on Sensor Technology and Control, ISSTC 2024

作者： Lu, Wei Hu, Lizhi Xiang, Zhiyu Li, Ming College of Information Science and Electronic Engineering Zhejiang University Hangzhou China Zhejiang HuaRay Technology Co. Ltd. Navigation and Localization algorithm department Hangzhou China

ISBN: (纸本)9798331541637

Recognition and docking technology of mobile robot is becoming increasing important in the production and manufacture factory. It is necessary to identify the position of shelves efficiently and perform docking accurately. In this paper, we design a recognition method for trapezoidal shelf based on geometric information and a multiple model shelf screening method, which can autonomously identify and dock trapezoidal shelves quickly and accurately. During the recognition process, we combine odometry to eliminate abnormal recognition results and smooth the results. The experiment shows that the method proposed can identify the pose of the trapezoidal shelves efficiently, and the docking accuracy can achieve ± 1 cm. © 2024 IEEE.

关键词： Mobile robots

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High accuracy localization and docking for mobile robots in low dynamic environments 4

High accuracy localization and docking for mobile robots in ...

引用

4th International Conference on Neural Networks, Information and Communication Engineering, NNICE 2024

作者： Hu, Lizhi Lu, Wei Li, Xiang Lin, Hui Zhejiang HuaRay Technology Co. Lt. Navigation and Localization Algorithm Department Hangzhou China Zhejiang HuaRay Technology Co. Lt. Software Research and Development Center Hangzhou China

ISBN: (纸本)9798350394375

localization and navigation technology of mobile robots is becoming increasingly important in production and manufacturing factory. It is necessary to ensure localization and docking accuracy at high accuracy points and routes. In this paper, we propose a high-accuracy localization method based on 2D laser, wheel odometry, and prior probability grid map. The algorithm can maintain the accuracy of robot trajectory estimation in an dynamic environment that changes over time. Two resolution prior probability grid maps are constructed to determine the initial pose of the mobile robot. A factor graph model is constructed, allowing multiple relative or absolute observations, to be added to the factor graph as factors. During localization, two local submaps are constructed in real time, and are jointly optimized with prior maps before being used to the local scan matching. The laser odometry is generated by using local submaps scan matching, and is added to the factor graph model along with the wheel odometry and prior map scan matching. At the same time, several artificial features are designed at high-accuracy docking target points, and ensure the final docking accuracy by identifying artificial features. © 2024 IEEE.

关键词： Mobile robots

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Tightly-Coupled Lidar-Based Lifelong Mapping using Wheels and a MEMS Gyroscope for Mobile Robots in Dynamic Environment 24

Tightly-Coupled Lidar-Based Lifelong Mapping using Wheels an...

引用

3rd International Symposium on Robotics, Artificial Intelligence and Information Engineering, RAIIE 2024

作者： Hu, Lizhi Chen, Huilin Li, Xiang Lu, Wei Zhao, Yifan Hu, Songyu Navigation and Localization Algorithm Department Zhejiang HuaRay Technology Co. Lt. Hangzhou China Software Research and Development Center Zhejiang HuaRay Technology Co. Lt. Hangzhou China State Key Laboratory of Fluid Power and Mechatronic Systems College of Mechanical Engineering Zhejiang University Hangzhou China

ISBN: (纸本)9798400718311

localization and mapping technology of mobile robots is important in production and warehousing. The changing warehousing environment always result in poor accuracy and robustness of the mobile robot's localization. It is necessary to detect the degree of environmental changes and update the map. This paper proposes a novel lifelong mapping method fusing measurements from the lidar, wheels and a MEMS gyroscope, which can create a reliable map corresponding to the current working environment. Firstly, we use the wheels and gyroscopes measures for pre-integration to provide relative motion constraints, while integrating wheels and gyroscopes to provide initial pose for lidar matching. We also establish lidar odometry by submaps to provide another type of relative motion constraints. The absolute constraints are obtained by matching the lidar measurements with prior map. These three types of constraints are optimized in a factor graph. At the same time, during the process of updating the map, detect newly added artificial markers such as reflective columns or strips, and update them into the map timely. Then, in order to delete redundant lidar data keyframes for building map, we propose a determine redundancy method based on submaps. Finally, we propose a method for calculating the degree of map changes, which can update the map timely. Experimental results prove that our method can establish higher quality maps, optimize lidar external parameters timely during the mapping process, delete redundant lidar keyframes more efficiently, and update the current environmental map more accurately and timely. © 2024 Copyright held by the owner/author(s). Publication rights licensed to ACM.

关键词： Gyroscopes

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High Efficient Recognition and Docking of Mobile Robot for Multiple Trapezoidal Shelves

High Efficient Recognition and Docking of Mobile Robot for M...

引用

Sensor Technology and Control (ISSTC), International Symposium on

作者： Wei Lu Lizhi Hu Zhiyu Xiang Ming Li College of information science and electronic engineering Zhejiang University Hangzhou China Navigation and Localization algorithm department Zhejiang HuaRay Technology Co. Lt. Hangzhou China

ISBN: (数字)9798331541637

ISBN: (纸本)9798331541644

关键词： Accuracy Fluctuations Laser radar Optimization models Design methodology Robot sensing systems Real-time systems Production facilities Odometry Mobile robots

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High accuracy localization and docking for mobile robots in low dynamic environments

High accuracy localization and docking for mobile robots in ...

引用

Neural Networks, Information and Communication Engineering (NNICE), International Conference on

作者： Lizhi Hu Wei Lu Xiang Li Hui Lin Navigation and Localization Algorithm Department Zhejiang HuaRay Technology Co. Lt. Hangzhou China Software Research and Development Center Zhejiang HuaRay Technology Co. Lt. Hangzhou China

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